摘要船舶运动模拟器是由六自由度并联运动平台组成，六自由度并联运动平台具有承载能力大、刚度大、精度高、误差小、便于实时控制等优点，逐渐成为机器人领域的研究热点，广泛应用于航空航天领域、船舶制造领域、汽车制造领域、生物工程及民用娱乐等领域。83508

本文以六自由度并联平台为研究对象，首先将介绍六自由度并联平台的结构、特点、国内外研究现状以及发展前景和应用，然后分析了六自由度并联平台的运动学。运动学分析主要包括位置分析，速度分析和加速度分析，其中位置分析中介绍了并联平台的位置反解以及基于牛顿泰勒法的位置正解。接着利用凯恩法来建立包含电动缸惯性影响的多刚体动力学模型，该模型不仅将全面的表征六自由度并联平台的动力学特性，而且具有简单、通用的形式，为六自由度运动系统的控制方法研究奠定了基础。采用并联机构常用的PD控制和计算力矩控制控制算法，对六自由度并联平台设计了控制器，并通过Matlab软件对该控制器进行了仿真验证。最后对六自由度船舶运动模拟器控制系统进行设计，并介绍了各部分组成的具体功能和相关参数。

毕业论文关键词：船舶运动模拟器；六自由度并联平台；动力学分析；计算力矩控制

Abstract The ship motion simulator is composed of six degree of freedom parallel motion platform。 Six degree of freedom parallel motion platform has the advantages of large bearing capacity, high rigidity, high precision, small error, easy to control and so on。thus it gradually become a research focus in the field of Robotics。It has been widely used in aerospace, shipbuilding, automobile manufacturing, biological engineering and civil entertainment and other fields。。

    In this paper, the six degree of freedom parallel platform is the research object。Firstly, this paper introduces the structure, characteristics, domestic and foreign research status, development prospects and application of the six degree of freedom parallel platform, and then analyzes the kinematics of the parallel platform with six degrees of freedom。The kinematics analysis mainly includes position analysis, velocity analysis and acceleration analysis, in which the position analysis of the parallel platform is introduced and the position forward solution based on Taylor Newton method is introduced。Then we can use the Kaine method to establish the multi rigid body dynamic model including the inertia effect of the electric cylinder。This model not only provides a complete characterization of the dynamic characteristics of the six degree of freedom parallel platform, but also has a simple and universal form, which lays the foundation for the control method of the six degree of freedom motion system。Based on the control of PD and the calculation of torque control, a controller is designed for six degree of freedom parallel platform。What’s more,the controller was simulated and verified by Matlab software。In the end, the control system of ship motion simulator with six degrees of freedom is designed, and the specific functions and related parameters of each component are introduced。

Keywords:Ship motion simulator；Six degree of freedom parallel platform；kinetic analysis；Computed torque control

目录

第一章 绪论 1

1。1 背景意义 1

1。2 六自由并联系统概述 1

1。2。1 六自由度并联机器人简介 1

1。2。2 六自由度并联平台的发展历史和国内外研究现状 2

1。2。3 六自由度并联机构的应用